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add m_splitImpulseTurnErp solver setting, initialized to 0.1: more stable recovery from deeper penetrations by reducing the angular effect (if split impulse is enabled)

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Set it to 1.0 to disable the effect.
removed broken/not maintained heightfield fluid demo
add some API methods to btPersistentManifold
This commit is contained in:
erwin.coumans
2012-09-03 04:38:08 +00:00
parent c1138535f9
commit 196aa20329
25 changed files with 26 additions and 4888 deletions
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4
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
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@@ -49,6 +49,7 @@ struct btContactSolverInfoData
btScalar m_globalCfm;//constraint force mixing
int m_splitImpulse;
btScalar m_splitImpulsePenetrationThreshold;
btScalar m_splitImpulseTurnErp;
btScalar m_linearSlop;
btScalar m_warmstartingFactor;
@@ -73,12 +74,13 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_restitution = btScalar(0.);
m_maxErrorReduction = btScalar(20.);
m_numIterations = 10;
m_erp = btScalar(0.2);
m_erp = btScalar(0.1);
m_erp2 = btScalar(0.1);
m_globalCfm = btScalar(0.);
m_sor = btScalar(1.);
m_splitImpulse = true;
m_splitImpulsePenetrationThreshold = -.04f;
m_splitImpulseTurnErp = 0.1f;
m_linearSlop = btScalar(0.0);
m_warmstartingFactor=btScalar(0.85);
//m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD | SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | SOLVER_RANDMIZE_ORDER;